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Update paint.cc #1

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25 changes: 18 additions & 7 deletions selfdrive/ui/paint.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -204,14 +204,14 @@ static void ui_draw_track(UIState *s, bool is_mpc, track_vertices_data *pvd) {
// Draw colored MPC track Kegman's
if (s->scene.steerOverride) {
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
nvgRGBA(0, 191, 255, 255), nvgRGBA(0, 95, 128, 50));
COLOR_BLACK_ALPHA(200), COLOR_BLACK_ALPHA(20)); //nvgRGBA(0, 191, 255, 255), nvgRGBA(0, 95, 128, 50));
} else {
int torque_scale = (int)fabs(510*(float)s->scene.output_scale);
int torque_scale = (int)fabs(255*(float)s->scene.output_scale);
int red_lvl = fmin(255, torque_scale);
int green_lvl = fmin(255, 510-torque_scale);
int green_lvl = fmin(255, 255-torque_scale);
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h*.4,
nvgRGBA( red_lvl, green_lvl, 0, 255),
nvgRGBA((int)(0.5*red_lvl), (int)(0.5*green_lvl), 0, 50));
nvgRGBA((int)(0.7*red_lvl), (int)(0.7*green_lvl), 0, 50));
}
} else {
// Draw white vision track
Expand Down Expand Up @@ -270,14 +270,25 @@ static void update_line_data(UIState *s, const cereal::ModelDataV2::XYZTData::Re

static void ui_draw_vision_lane_lines(UIState *s) {
const UIScene *scene = &s->scene;

float red_lvl = 0.0;
float green_lvl = 0.0;
// paint lanelines
line_vertices_data *pvd_ll = &s->lane_line_vertices[0];
for (int ll_idx = 0; ll_idx < 4; ll_idx++) {
if (s->sm->updated("modelV2")) {
if(s->sm->updated("modelV2")) {
update_line_data(s, scene->model.getLaneLines()[ll_idx], 0.025*scene->model.getLaneLineProbs()[ll_idx], pvd_ll + ll_idx, scene->max_distance);
}
NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene->lane_line_probs[ll_idx]);
red_lvl = 0.0;
green_lvl = 0.0;
if ( scene->lane_line_probs[ll_idx] > 0.4 ){
red_lvl = 1 - (scene->lane_line_probs[ll_idx] - 0.4) * 2.5;
green_lvl = 1 ;
}
else {
red_lvl = 1 ;
green_lvl = 1 - (0.4 - scene->lane_line_probs[ll_idx]) * 2.5;
}
NVGcolor color = nvgRGBAf(red_lvl, green_lvl, 0, 1);
ui_draw_line(s, (pvd_ll + ll_idx)->v, (pvd_ll + ll_idx)->cnt, &color, nullptr);
}

Expand Down